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diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/ATcodec/ATcodec_Memory.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/ATcodec/ATcodec_Memory.c
new file mode 100644
index 0000000..adc3aa6
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/ATcodec/ATcodec_Memory.c
@@ -0,0 +1,234 @@
+/**
+ * @file ATcodec_Memory.c
+ * @author aurelien.morelle@parrot.fr
+ * @date 2006/12/06
+ */
+
+#include <VP_Os/vp_os_assert.h>
+
+#include <ATcodec/ATcodec_Memory.h>
+
+// Macros
+#define ATCODEC_MEMORY_SIZE_ASSERT(mem, size_inc) \
+  do \
+  { \
+    VP_OS_ASSERT((unsigned)mem->current-(unsigned)mem->start + size_inc*mem->char_size < mem->size); \
+  } \
+  while(0)
+
+#define ATCODEC_MEMORY_GET_STRUCT_ASSERT(mem) \
+  do \
+  { \
+    VP_OS_ASSERT(mem); \
+    VP_OS_ASSERT(mem->start); \
+    VP_OS_ASSERT(mem->char_size); \
+    VP_OS_ASSERT(mem->get); \
+    VP_OS_ASSERT(mem->put); \
+  } \
+  while(0)
+
+#define ATCODEC_MEMORY_PUT_STRUCT_ASSERT(mem) \
+  do \
+  { \
+    ATCODEC_MEMORY_GET_STRUCT_ASSERT(mem); \
+    VP_OS_ASSERT(mem->size); \
+  } \
+  while(0)
+
+// Static get/put
+
+static int
+static_atcodec_getchar (char **str)
+{
+  VP_OS_ASSERT(str);
+  VP_OS_ASSERT(*str);
+
+  return *((*str)++);
+}
+
+static void
+static_atcodec_putchar (char **str, int c)
+{
+  VP_OS_ASSERT(str);
+  VP_OS_ASSERT(*str);
+
+  *((*str)++) = (char)c;
+}
+
+// Init
+
+void
+ATcodec_Memory_Init (ATcodec_Memory_t *mem, const char *start, int size, int char_size, ATcodec_Getchar get, ATcodec_Putchar put)
+{
+  VP_OS_ASSERT(mem);
+  VP_OS_ASSERT(start);
+  VP_OS_ASSERT(char_size);
+
+  mem->start = start;
+  mem->size = size;
+  mem->char_size = char_size;
+
+  mem->current = (char *)start;
+
+  mem->get = (get && size ? get : static_atcodec_getchar);
+  mem->put = (put ? put : static_atcodec_putchar);
+}
+
+
+// Put
+
+void
+ATcodec_Memory_Put_Char (ATcodec_Memory_t *mem, int character)
+{
+  ATCODEC_MEMORY_PUT_STRUCT_ASSERT(mem);
+  ATCODEC_MEMORY_SIZE_ASSERT(mem, 1);
+
+  mem->put(&mem->current, character);
+}
+
+// \todo Does source string need to be passed like an ATcodec_Memory_t ?
+void
+ATcodec_Memory_Put_String (ATcodec_Memory_t *mem, const char *str)
+{
+  char *s = (char *)str;
+
+  VP_OS_ASSERT(s);
+  ATCODEC_MEMORY_PUT_STRUCT_ASSERT(mem);
+
+  if(*s)
+  {
+    do
+    {
+      ATCODEC_MEMORY_SIZE_ASSERT(mem, 1);
+      mem->put(&mem->current, *s++);
+    }
+    while ( *s );
+  }
+}
+
+void
+ATcodec_Memory_Raw_Put_Int (ATcodec_Memory_t *mem, int value)
+{
+  ATCODEC_MEMORY_PUT_STRUCT_ASSERT(mem);
+
+  ATcodec_Memory_Put_Char(mem, (value>>24) & 0xFF);
+
+  value &= 0x00FFFFFF;
+  ATcodec_Memory_Put_Char(mem, (value>>16) & 0xFF);
+
+  value &= 0x0000FFFF;
+  ATcodec_Memory_Put_Char(mem, (value>>8) & 0xFF);
+
+  value &= 0x000000FF;
+  ATcodec_Memory_Put_Char(mem, value & 0xFF);
+}
+
+void
+ATcodec_Memory_Str_Put_Int (ATcodec_Memory_t *mem, int value)
+{
+  int i;
+
+  ATCODEC_MEMORY_PUT_STRUCT_ASSERT(mem);
+
+  if (value < 0)
+  {
+    ATcodec_Memory_Put_Char(mem, '-');
+    value = -value;
+  }
+
+  for ( i=1 ; value >= 10*i ; i*=10 );
+
+  while (value)
+  {
+    VP_OS_ASSERT(i);
+    ATcodec_Memory_Put_Char(mem, '0'+(char)(value/i));
+    value -= i*(value/i);
+    i /= 10;
+  }
+
+  for ( ; i ; i/=10 )
+    ATcodec_Memory_Put_Char(mem, '0');
+}
+
+// Get
+
+int
+ATcodec_Memory_Get_Char (ATcodec_Memory_t *mem)
+{
+  ATCODEC_MEMORY_GET_STRUCT_ASSERT(mem);
+
+  return mem->get(&mem->current);
+}
+
+void
+ATcodec_Memory_Unget_Char (ATcodec_Memory_t *mem)
+{
+  ATCODEC_MEMORY_GET_STRUCT_ASSERT(mem);
+
+  mem->current -= mem->char_size;
+  VP_OS_ASSERT((unsigned)mem->current >= (unsigned)mem->start);
+}
+
+// \todo Does destination string need to be passed like an ATcodec_Memory_t ?
+void
+ATcodec_Memory_Get_String (ATcodec_Memory_t *mem, char *dst)
+{
+  int c;
+
+  VP_OS_ASSERT(dst);
+  ATCODEC_MEMORY_GET_STRUCT_ASSERT(mem);
+
+  do
+  {
+    c = mem->get(&mem->current);
+    *dst++ = c;
+  }
+  while ( c );
+}
+
+int
+ATcodec_Memory_Raw_Get_Int (ATcodec_Memory_t *mem)
+{
+  unsigned val;
+
+  ATCODEC_MEMORY_GET_STRUCT_ASSERT(mem);
+
+  val = (unsigned) ATcodec_Memory_Get_Char(mem);
+  val = ((unsigned)(ATcodec_Memory_Get_Char(mem) & 0xFF)) | (val << 8);
+  val = ((unsigned)(ATcodec_Memory_Get_Char(mem) & 0xFF)) | (val << 8);
+  val = ((unsigned)(ATcodec_Memory_Get_Char(mem) & 0xFF)) | (val << 8);
+
+  return val;
+}
+
+int
+ATcodec_Memory_Str_Get_Int (ATcodec_Memory_t *mem)
+{
+  int neg, val;
+  char c;
+
+  ATCODEC_MEMORY_GET_STRUCT_ASSERT(mem);
+
+  c = (char) ATcodec_Memory_Get_Char(mem);
+  neg = (c == '-' ? 0 : -1);
+
+  if (!neg)
+    c = (char) ATcodec_Memory_Get_Char(mem); // skips '-' character
+
+  VP_OS_ASSERT(c >= '0' && c <= '9'); // not supported
+
+  val = 0;
+  do
+  {
+    val = 10*val + c-'0';
+    c = (char) ATcodec_Memory_Get_Char(mem); // processes next characters
+  }
+  while (c >= '0' && c <= '9');
+
+  ATcodec_Memory_Unget_Char(mem); // ungets last non-num character
+
+  if(!neg)
+    val = -val;
+
+  return val;
+}